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Motion Planning of Cooperative Nonholonomic Mobile Manipulators

Abstract : We deal with the cooperation problem of two nonholomic mobile manipulators. We propose a leader-follower architecture for implementing robot coordination and a control algorithm for motion planning and force control. The Deformable Virtual Zone (DVZ) method is proposed to resolve the problem through the reflex action theory. The formulation of the DVZ principle is given and an extension to the mobile manipulator tasks is detailed.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00268670
Contributor : Christine Carvalho de Matos <>
Submitted on : Tuesday, April 1, 2008 - 9:28:48 AM
Last modification on : Tuesday, July 17, 2018 - 1:22:37 PM

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Jérôme Albaric, René Zapata. Motion Planning of Cooperative Nonholonomic Mobile Manipulators. SMC: Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. ⟨10.1109/ICSMC.2002.1175608⟩. ⟨lirmm-00268670⟩

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